Questions tagged [ros-canopen]
The ros-canopen tag has no usage guidance.
53
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ROS_CANOpen and EPOS4: internal limit active
I’m trying to use ros_canopen to teleoperate a continuum robot working with 11 maxon motors (combination 538252), each controlled by an EPOS4 (24/1.5 can compact) with 24V power, and a PCAN-USB ...
0
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1
answer
2
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Adding Tutorial link automatically to a wiki page
Hi,
I've created a tutorial for the ros_canopen package : http://wiki.ros.org/ros_canopen.
I made the tutorial according to this guideline : http://wiki.ros.org/WritingTutorials.
The tutorial page is ...
Cyril Jourdan
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1
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4
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How to change the homing order
Hello,
I am trying to home 3 drives in a specific order. Here akosodry asked the same question: Link to another question
So what I did was specify the nodes as a list:
...
TLZ
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1
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16
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ros_canopen PDO mapping (Schneider Motor CiA 402)
Hey guys,
I'm at a dead-end so in need of some help from the community, please. This question follows on from a closed GitHub issue on ros_canopen. My problem is as follows:
I'm unable to do a PDO re-...
robertjbush
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1
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16
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Motor control using ROS, Epos2 and CANOpen
Hello everyone,
I happen to be stuck for a few days now by problems some of the forum's members apparently already encountered, whence this question. I hope the latter will not be considered as ...
JulienTemplai
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1
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27
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catkin_make could not find roslib
Hello everyone,
First of all, thank you for this amazingly helpful forum. I have been using ROS for a few months now, but I only decide to write a question here today.
My computer runs a 64-bit Debian ...
JulienTemplai
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1
answer
6
views
How to control Faulhaber AES-4096 Motor by using ROS_CANopen?
Hello everyone,
I'd like to control (initialize and send can messages) to the Faulhaber motors.
I've downloaded the ros_canopen package and I've build it successfully in ubuntu kinetic OS.
I've run in ...
nz
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2
answers
13
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ROS_CANopen faults on init
I have a Bechoff CANopen bus terminal I'm trying to interface with. However, the driver fails on init and faults with the following error. I'm fairly new to CAN and am having a hard time debugging ...
Sidd
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1
answer
5
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ros_canopen interpolated position mode, time period?
Hello,
I'm driving three servos in interpolated position mode via the ros_canopen package.
Everything works quite smoothly, only ...
akosodry
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1
answer
2
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ros_canopen Profile position + Interpolated position modes
Hello.
I'm working on a custom made robotic arm actuated by different motion controllers/motors via ros_canopen.
Currently, the motors are controlled in ...
akosodry
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1
answer
1
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ros_canopen vel_from_device: (obj606C) issue
Hello,
i am using the ros_canopen package to communicate with a BGE 6010 controller manufactured by ...
akosodry
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1
answer
4
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command igus-dryve with canopen_motor_node
Hy there,
i am trying to implement a controller for a igus-dryve motor drive on ros-kinetic. I am using canopen and the ros_canopen package to communicate over a sysWORXX USBCanmodule 1 with the igus-...
mtROS
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1
answer
1
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Emergency error of Schunk PG70
Hello,
I want to move a PG70 gripper together with a LWA4P using:
HW:
Schunk LWA4P
Schunk PG70-plus
SW:
Ubuntu 16.04
ROS kinetic
ros_canopen
I am perfectly able to move the LWA4P, but when I try ...
verena
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1
answer
2
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motor oscillates after diff_drive_controller configuration
Hello,
I have configured the canopen_motor_node of my robot to use a DiffDriveController, but once I start publishing angular velocities in the /cmd_vel topic the movement is not smooth, i.e. the ...
af.villamil231
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1
answer
2
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ros_canopen homing simultaneously or one-by-one?
Hello,
this question has been addressed in these questions as well (Q1, Q2), however no answer arrived, therefore i'm asking as well.
It is not clear from the wiki of ros_canopen that how does the ...
akosodry
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1
answer
1
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Schunk LWA4P initialization problem with ros_canopen
Hi,
I try to launch a LW4P with ros_canopen. I use ROS kinetic and a PCAN-USB Pro adapter.
I already tried out the suggestions on similar problems on ROS answers and on GitHub but unfortunately my ...
verena
0
votes
1
answer
7
views
How to use controller_manager with ros_canopen
Hi,
I am currently working on controlling two dc motors with integrated controller using ros_canopen, ROS kinetic, ubuntu 16.04.
So far I have done steps 1 through 7 in THIS answer. But I am stuck at ...
rhas
0
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1
answer
1
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ros_canopen reset encoders?
Hello!
Is it possible in ros_canopen somehow (e.g., through service call) to reset the encoder/position values?
I mean:
the robot performs different movements, then
...
akosodry
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votes
1
answer
10
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Is it possible to use kvaser (can to USB) to read canopen device?
I have a SICK encoder which works with CANOPEN protocol and also I have a KVASER leaf light v2 CAN to USB interface. So my question is if there is a way to use KVASER to read CANOPEN device? Maybe ...
r.ghahremani
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1
answer
7
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differential transmission with ros_canopen, HOW to?
Hello ROS Community,
I have already tried to ask a similar question here: #q304832, however no answer was received so i am trying to ask again from a different perspective.
I am working on the control ...
akosodry
0
votes
2
answers
6
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roscanopen SDO or PDO for service calls?
If i have an object mapped to a PDO in the canopen EDS and then i go to use the ros-canopen service "set_object" to modify its value, does ros-canopen use SDO or PDO to modify this value in ...
JadTawil
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1
answer
1
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ros_canopen: virtual joints, is it possible?
Hello,
Currently I have three working canopen motor drivers,
but my system will consists five motors later (the two missing motors have not been delivered yet).
I have already tested some basic ...
akosodry
0
votes
2
answers
4
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[SOLVED] ros_canopen: "Did not receive a response message"
Hello!
I have established a working package that drives a servo motor through ros_canopen. The earlier problems with solutions is given in the question: here.
Even though i am able to both control the ...
akosodry
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votes
2
answers
19
views
[SOLVED] ros_canopen ERROR after spawning controllers
Hello!
The solution is given in the answer section.
The original question with different edit parts start here:
-------------------------------------------------- ORIGINAL QUESTION ...
akosodry
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1
answer
6
views
CANopen test based on the canopen_test_utils package
Hello,
i am trying to communicate with a single motor through CANopen.
I had posted earlier about it in this question: #q294210
EDIT (21/06): This question was answered by Mathias Lüdtke. The error ...
akosodry
0
votes
1
answer
9
views
ROS_canopen correct PDO mapping + EDS modifications?
Hello!
I have the following setup: Microchip CAN BUS Analyzer + Delta ASDA A2 motor driver + ECMA AC servo motor
Later there will be more motors and drivers, but now the goal is to control a single ...
akosodry
0
votes
1
answer
5
views
Schunk_lwa4d problem initialising with ros_canopen
Hi,
Edit: I also opened issue 276 in ros_canopen github.
I am trying to use a schunk_lwa4d arm with an esd CAN-USB/2 in ROS but I have issues initializing it. I am using this launch file in the ...
Manolis Chiou
0
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1
answer
4
views
Canopen_motor_node, Error document empty
Hi,
I'm trying to use the motion controller FAULHABER MCBL 3006 S AES with ros_canopen. It seems there is no tutorial on how to use ros_canopen, the closest i've found is : https://answers.ros.org/...
simchanu
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1
answer
3
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canopen_chain_node and init device
How to init vcan0?
I need to use can::SocketCANInterface ?
...
Dizett
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1
answer
2
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canopen chain node exit with error code -11
When I run the canopen_chain_node's chain the launch with the following yaml file:
...
Dizett
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1
answer
1
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Is there any way using ros canopen with JointTrajectoryController by profile position mode
I try to control my motor using canopen by JointTrajectoryController, but my motor driver do not support interpolate position mode, Please some one help me to figured out if I can use profiled ...
leo
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1
answer
4
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canopen_chain_node to read dictionary entries only
I am working with two motors over the can bus. I have a can bus master and I would like to use the canopen_chain_node to only read values from the dictionary using the service getObject. For now I can ...
Edgar Carrasco
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1
answer
2
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profile position mode + ros canopen
Hello,
I want to use profile postion mode with ros canopen, but i want the bits in the control word to be set in a certain way, for example:
Bit 5: If this bit is set to "1", a travel order ...
JadTawil
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votes
1
answer
3
views
Does canopen_chain_node create local node?
Does the canopen_chain_node create a "local" node on the pc with its own object dictionary or does it just manage the nodes on the bus (ex. motors), as it can be used as a stand-alone ROS ...
rhas
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1
answer
5
views
Running a canopen node using only canopen_chain_node and canopen_master
Hi,
I have recently startet using ros_canopen, but I have a hard time figuring out how it works exactly. Currently I am controlling my robot using socketcan_bridge (socketcan_to_topic and ...
rhas
0
votes
1
answer
9
views
roscanopen + cyclic position mode + nanotec controller
Hello all,
I have a nanotec integrated servo controller (the PD6-CB87S048030-E-09), with support for CanOpen in DS402 profile.
I am wondering about the cyclic synchronous position mode, which is ...
JadTawil
0
votes
1
answer
2
views
Schunk_lwa4p initialization error with ros_canopen
Hello,
I am trying to run the schunk lwa4p arm with ros_canopen package but was not able to initialize the robot. The nodes are running and the can is set up but the rosservice call /arm/driver/init ...
Rishabh
0
votes
1
answer
3
views
Correct usage of socketcan_interface - hex2dec
I've recently started using the socketCAN_interface component of ros_canopen to get data from a Kuebler encoder.
My code is ...
rmck
0
votes
1
answer
2
views
"Node has emergency error" : Issue on Lwa4D
Hello,
I try to set up a Schunk Lwa4d with PG70 gripper, using:
H/W:
Schunk Lwa4d
Schunk Pg70 gripper
Peak CAN-USB interface device
S/W:
Ubuntu 14.04 (Kernel 4.4.0-31-generic)
ROS Indigo
...
NikMavr
0
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1
answer
1
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Difference between kacanopen and ros_canopen?
I'm attempting to get the output from a Kuebler 5868 draw wire encoder into ROS. The 5868 encoder is a CANOpen device that outputs the draw wire position over the CANbus.
My setup is Indigo running on ...
rmck
0
votes
1
answer
3
views
ros_canopen dcf_overlay setting
Hi,
I'm using ros_canopen to control my robot.
The joint_position_controller works but I get stuck with joint_trajectory_controller.
I set PDO mapping through dcf_overlay :
...
Craig
0
votes
1
answer
1
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Mapping between PWM counts and joint angle in ros_canopen
I'm using ros_canopen, which is an awsome package, to communicate with my robot.
By far, I modified the below yaml parameters to deal with the mapping between PWM counts and jont angle.
...
Craig
0
votes
1
answer
8
views
ROS_CANopen can't start velocity_controller and trajectory_controller
Hi,
I am working with ros_canopen to control a robot arm. The arm uses Copley drives. Please check out the github repo that I'm working on here.
The position controller (point to point move) works ...
Craig
0
votes
1
answer
4
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canopen chain node exit with error code -11 at start
I am trying to connect to an link[http://www.a-m-c.com/download/datasheet/dzcante-060l080.pdf "AMC DZCante 60L080"].
I know that I am connecting to the can bus as i can run socketcam_dump ...
qnetjoe
0
votes
1
answer
1
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Control Trinamic motor using ros_canopen
I am trying to control Trinamic PD-1160 motor using ros_canopen. The motor is DS402 complient. The CANopen manual of this motor is located here.
I have configured the canopen_motor_node using the ...
JuliusGel
0
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1
answer
4
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ros_canopen did not receive a response message
Hi, I trying to use ros_canopen to control a robot with canopen motors. I use indigo.
I run candump in a terminal. When I connect the motor to power,candump receives:
...
Craig
0
votes
1
answer
15
views
How to used ROS_CANopen?
Hi. I am quite new to ROS . I want to use ros_canopen package to communicate with the robot in my lab, i.e. build a ros controller for it. However , I cant find a more detail tutorial to use it than ...
Craig
0
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1
answer
1
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Send data thanks to PDO protocol
I am working on controlling a canopen device thanks to canopen_master.
I got inspired by the canopen_chain_node but it seems that this node only use SDO protocol.
PDO management seems to be ...
- 73
0
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1
answer
1
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CANopen NMT broadcast (using NodeId 0) support
I am wondering if there is a way to send NMT commands to all CANopen-nodes at once using NodeId = 0x00 (zero) as broadcast.
At first I thought canopen::NodeChain would do that but eg. canopen::...
JochenLg
0
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1
answer
3
views
rosp_canopen canopen_motor_node fails to compile / needs code edit to compile
Hi guys,
I want to catkin_make the recent version of ros_canopen, but this appears:
...
Marcel Usai